TY - JOUR 
A1 - Berenguer Císcar, Fernando Juan
AU - Monasterio-Huelin, Félix
T1 - Stability and smoothness improvements for an underactuated biped with a tail
Y1 - 2007
UR - http://hdl.handle.net/11268/5425
AB - In this work we present an important improvement in our model of biped mechanism that allows the elevation in a stable form of the system's feet during the execution of trajectories. This improvement allows for simpler trajectory planning and also facilitates the reduction of losses in the collision between the feet and the ground. On the other hand, we add to the design phase the study of the displacement of the Zero Moment Point, as well as the variation of the normal component of the ground reaction force during the motion of the system. Consideration of the above mentioned magnitudes in the design phase allows us to design the necessary support area of the system. These magnitudes will be used as a smoothness criterion of the ground contact to facilitate the selection of robot parameters and trajectories.
KW - Robots móviles
KW - Robótica
LA - eng
PB - IEEE
ER -